REDUCING INFLUENCE OF ECCENTRIC LOAD ON DYNAMIC CHARACTERISTICS OF ROTARY ACTUATOR
Keywords:
pneumatic rotary actuator, eccentric load, instability, real-coded genetic algorithm, optimization designAbstract
The main objective of this study is to reduce the eccentric load’s influence on the dynamic characteristics of a horizontally installed rotary actuator. The solution is drilling a hole into the rotary shaft of a rotary cylinder. With the rotation of the rotary actuator the hole will open and connect the two working chambers within a certain angular range, the back pressure will increase and the torque introduced by the back pressure partly compensates for the torque of the eccentric load. The design procedure for the connecting hole is as follows: First, experiments that study the effect of eccentric loads on the dynamic characteristics of a rotary actuator were carried out, and a stability index αv was proposed; Second, a mathematical model including the connecting hole was built; Third, a real–coded GA optimization design for the connecting hole whose object is to minimize αv was conducted. Simulations and test results show that the method worked efficiently.
Downloads
References
Li, J. F. 1991. Dynamics of pneumatic transmission
system, HuaNan institute of technology publish society,
WuHai.
Wang, L. 2003. On Nonlinear Constrained Optimization,
journal of liaoning institute of technology,
(1), pp. 13-15.
Wang, P., Peng, G. and Wu, Q. 2004. Application of
parameter adjustors based on stability theory to
pneumatic manipulators, Journal of University of
Science and Technology Beijing, 26(6), pp. 666-
Wang, P., Peng, G.-Z. and Wu, Q.-H. 2003. Intelligent
PID control of pneumatic rotary actuator angle
servo system, Journal of Beijing Institute of Technology
(English Edition), 12(SUPPL), pp. 16-19.
Wang, P., Peng, G.-Z. and Wu, Q.-H. 2003. Pneumatic
rotary actuator angle control system, Journal
of Beijing Institute of Technology (English Edition),
(4), pp. 362-365.
Yamamoto, K., Ishii, M., Noborisaka, H. and Hyodo,
K. 2004. Stand alone wearable power assisting suit
- Sensing and control systems, Proceedings - IEEE
International Workshop on Robot and Human Interactive
Communication, pp. 661-666.
Ye Q., Meng G. X., Yang L. H. and Xie W. H. 2006.
Speed Stability Criterion of the Rotary Cylinder
with Eccentric Load, Journal of ShangHai
JiaoTong University, 40(12), pp. 2089-2092.
Yoshimitsu, T. and Yamamoto, K. 2004. Development
of a power assist suit for nursing work, Proceedings
of the SICE Annual Conference, pp. 691-
Zhang, Y. A. and Nishi, A. B. 2003. Low-pressure air
motor for wall-climbing robot actuation, Mechatronics,
(4), pp. 377-392.
Zhang, Y. and Nishi, A. 1999. Robot actuation with
low-pressure air-powered motors, Advanced Robotics,
(1), pp. 59-74.
Zhang, X. E. 2003. Practical pneumatic technology
nowadays. Mechanic engineering publish society,
Beijing.
